223 lines
7.1 KiB
C++
223 lines
7.1 KiB
C++
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Module: FGPID.cpp
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Author: Jon S. Berndt
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Date started: 6/17/2006
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------------- Copyright (C) 2006 Jon S. Berndt (jon@jsbsim.org) -------------
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This program is free software; you can redistribute it and/or modify it under
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the terms of the GNU Lesser General Public License as published by the Free Software
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Foundation; either version 2 of the License, or (at your option) any later
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version.
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This program is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
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details.
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You should have received a copy of the GNU Lesser General Public License along with
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this program; if not, write to the Free Software Foundation, Inc., 59 Temple
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Place - Suite 330, Boston, MA 02111-1307, USA.
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Further information about the GNU Lesser General Public License can also be found on
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the world wide web at http://www.gnu.org.
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HISTORY
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--------------------------------------------------------------------------------
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Initial code 6/17/2006 JSB
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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COMMENTS, REFERENCES, and NOTES
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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INCLUDES
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#include "FGPID.h"
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#include "input_output/FGXMLElement.h"
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#include <string>
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#include <iostream>
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using namespace std;
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namespace JSBSim {
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static const char *IdSrc = "$Id: FGPID.cpp,v 1.19 2011/05/05 11:44:11 jberndt Exp $";
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static const char *IdHdr = ID_PID;
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS IMPLEMENTATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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FGPID::FGPID(FGFCS* fcs, Element* element) : FGFCSComponent(fcs, element)
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{
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string kp_string, ki_string, kd_string;
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Kp = Ki = Kd = 0.0;
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KpPropertyNode = 0;
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KiPropertyNode = 0;
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KdPropertyNode = 0;
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KpPropertySign = 1.0;
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KiPropertySign = 1.0;
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KdPropertySign = 1.0;
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I_out_total = 0.0;
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Input_prev = Input_prev2 = 0.0;
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Trigger = 0;
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if ( element->FindElement("kp") ) {
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kp_string = element->FindElementValue("kp");
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if (!is_number(kp_string)) { // property
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if (kp_string[0] == '-') {
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KpPropertySign = -1.0;
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kp_string.erase(0,1);
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}
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KpPropertyNode = PropertyManager->GetNode(kp_string);
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} else {
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Kp = element->FindElementValueAsNumber("kp");
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}
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}
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if ( element->FindElement("ki") ) {
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ki_string = element->FindElementValue("ki");
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if (!is_number(ki_string)) { // property
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if (ki_string[0] == '-') {
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KiPropertySign = -1.0;
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ki_string.erase(0,1);
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}
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KiPropertyNode = PropertyManager->GetNode(ki_string);
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} else {
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Ki = element->FindElementValueAsNumber("ki");
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}
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}
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if ( element->FindElement("kd") ) {
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kd_string = element->FindElementValue("kd");
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if (!is_number(kd_string)) { // property
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if (kd_string[0] == '-') {
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KdPropertySign = -1.0;
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kd_string.erase(0,1);
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}
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KdPropertyNode = PropertyManager->GetNode(kd_string);
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} else {
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Kd = element->FindElementValueAsNumber("kd");
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}
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}
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if (element->FindElement("trigger")) {
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Trigger = PropertyManager->GetNode(element->FindElementValue("trigger"));
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}
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FGFCSComponent::bind();
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Debug(0);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGPID::~FGPID()
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{
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Debug(1);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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bool FGPID::Run(void )
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{
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double I_out_delta = 0.0;
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double P_out, D_out;
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Input = InputNodes[0]->getDoubleValue() * InputSigns[0];
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if (KpPropertyNode != 0) Kp = KpPropertyNode->getDoubleValue() * KpPropertySign;
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if (KiPropertyNode != 0) Ki = KiPropertyNode->getDoubleValue() * KiPropertySign;
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if (KdPropertyNode != 0) Kd = KdPropertyNode->getDoubleValue() * KdPropertySign;
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P_out = Kp * Input;
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D_out = (Kd / dt) * (Input - Input_prev);
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// Do not continue to integrate the input to the integrator if a wind-up
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// condition is sensed - that is, if the property pointed to by the trigger
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// element is non-zero. Reset the integrator to 0.0 if the Trigger value
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// is negative.
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if (Trigger != 0) {
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double test = Trigger->getDoubleValue();
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if (fabs(test) < 0.000001) {
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// I_out_delta = Ki * dt * Input; // Normal rectangular integrator
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I_out_delta = Ki * dt * (1.5*Input - 0.5*Input_prev); // 2nd order Adams Bashforth integrator
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}
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if (test < 0.0) I_out_total = 0.0; // Reset integrator to 0.0
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} else { // no anti-wind-up trigger defined
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// I_out_delta = Ki * dt * Input;
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I_out_delta = Ki * dt * (1.5*Input - 0.5*Input_prev); // 2nd order Adams Bashforth integrator
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}
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I_out_total += I_out_delta;
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Output = P_out + I_out_total + D_out;
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Input_prev = Input;
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Input_prev2 = Input_prev;
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Clip();
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if (IsOutput) SetOutput();
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return true;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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// The bitmasked value choices are as follows:
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// unset: In this case (the default) JSBSim would only print
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// out the normally expected messages, essentially echoing
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// the config files as they are read. If the environment
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// variable is not set, debug_lvl is set to 1 internally
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// 0: This requests JSBSim not to output any messages
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// whatsoever.
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// 1: This value explicity requests the normal JSBSim
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// startup messages
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// 2: This value asks for a message to be printed out when
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// a class is instantiated
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// 4: When this value is set, a message is displayed when a
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// FGModel object executes its Run() method
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// 8: When this value is set, various runtime state variables
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// are printed out periodically
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// 16: When set various parameters are sanity checked and
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// a message is printed out when they go out of bounds
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void FGPID::Debug(int from)
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{
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if (debug_lvl <= 0) return;
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if (debug_lvl & 1) { // Standard console startup message output
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if (from == 0) { // Constructor
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if (InputSigns[0] < 0)
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cout << " INPUT: -" << InputNodes[0]->GetName() << endl;
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else
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cout << " INPUT: " << InputNodes[0]->GetName() << endl;
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if (IsOutput) {
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for (unsigned int i=0; i<OutputNodes.size(); i++)
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cout << " OUTPUT: " << OutputNodes[i]->getName() << endl;
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}
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}
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}
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if (debug_lvl & 2 ) { // Instantiation/Destruction notification
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if (from == 0) cout << "Instantiated: FGPID" << endl;
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if (from == 1) cout << "Destroyed: FGPID" << endl;
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}
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if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
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}
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if (debug_lvl & 8 ) { // Runtime state variables
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}
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if (debug_lvl & 16) { // Sanity checking
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}
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if (debug_lvl & 64) {
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if (from == 0) { // Constructor
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cout << IdSrc << endl;
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cout << IdHdr << endl;
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}
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}
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}
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}
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